ARES / Mbed 2 deprecated Robot2016_2-0

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Dependencies:   RoboClaw mbed StepperMotor

Fork of RoboClaw by Simon Emarre

Map/map.h@76:a862cb10559c, 2016-05-05 (annotated)

Committer:
sype
Date:
Thu May 05 06:34:13 2016 +0000
Revision:
76:a862cb10559c
Parent:
75:195dd2bb13a3 
debuggage

Who changed what in which revision?

UserRevisionLine numberNew contents of line
IceTeam 47:be4eebf40568 1 #ifndef MAP_H
IceTeam 47:be4eebf40568 2 #define MAP_H
IceTeam 47:be4eebf40568 3
sype 76:a862cb10559c 4 /* Dernier Changement : Romain 20h30
IceTeam 57:86f491f5b25d 5 Inclu dans : main.cpp
sype 76:a862cb10559c 6 Il faut encore gerer les formations de coquillage */
IceTeam 57:86f491f5b25d 7
IceTeam 47:be4eebf40568 8 #include "obsCarr.h"
IceTeam 47:be4eebf40568 9 #include "pointParcours.h"
IceTeam 47:be4eebf40568 10 #include "nVector.h"
IceTeam 47:be4eebf40568 11 #include "controle.h"
IceTeam 57:86f491f5b25d 12 #include "Objectif/objectif.h"
IceTeam 57:86f491f5b25d 13 #include "../Odometry/Odometry.h"
IceTeam 63:176d04975f06 14 #include "../Functions/defines.h"
IceTeam 56:4fd9636dfb36 15 #include "../AX12/AX12.h"
IceTeam 57:86f491f5b25d 16 #include "../../StepperMotor/Stepper.h"
IceTeam 47:be4eebf40568 17
sype 76:a862cb10559c 18 #define MAP_RIGHTSIDE 1
sype 76:a862cb10559c 19 #define MAP_LEFTSIDE 2
IceTeam 52:98f8a6ccb6ae 20
IceTeam 47:be4eebf40568 21 class map {
IceTeam 47:be4eebf40568 22 public:
sype 76:a862cb10559c 23 map (Odometry* nodo, AX12 * np, ControlleurPince * npince);
IceTeam 47:be4eebf40568 24 void addObs (obsCarr nobs);
IceTeam 60:8d2320a54a32 25 void addObj (objectif nobj);
IceTeam 47:be4eebf40568 26 void FindWay (point dep, point arr);
IceTeam 47:be4eebf40568 27 void FindWay (float depX, float depY, float arrX, float arrY);
IceTeam 57:86f491f5b25d 28 void Execute (int obj);
IceTeam 47:be4eebf40568 29 void Execute (float XObjectif, float YObjectif);
sype 76:a862cb10559c 30 void Build(int couleur, int formation);
IceTeam 47:be4eebf40568 31 nVector<pointParcours>& getParc () { return path; }
IceTeam 47:be4eebf40568 32 bool& getEnded () { return endedParc; }
IceTeam 47:be4eebf40568 33
IceTeam 47:be4eebf40568 34 protected:
IceTeam 47:be4eebf40568 35 nVector<obsCarr> obs;
IceTeam 47:be4eebf40568 36 nVector<pointParcours> path;
IceTeam 63:176d04975f06 37 nVector<objectif> objectifs;
IceTeam 57:86f491f5b25d 38
IceTeam 47:be4eebf40568 39 bool endedParc; // Definit s'il existe un chemin parcourable dans le dernier FindWay
IceTeam 47:be4eebf40568 40 Odometry* Codo;
sype 76:a862cb10559c 41 AX12 * A1, * A2, * A3;
sype 76:a862cb10559c 42 Stepper * S1, * S2;
IceTeam 56:4fd9636dfb36 43
IceTeam 56:4fd9636dfb36 44 float min_x_table, min_y_table, max_x_table, max_y_table;
IceTeam 60:8d2320a54a32 45
IceTeam 60:8d2320a54a32 46 void Build_formation_1 (int couleur);
IceTeam 63:176d04975f06 47 void Build_formation_2 (int couleur);
IceTeam 47:be4eebf40568 48 };
IceTeam 47:be4eebf40568 49
IceTeam 47:be4eebf40568 50 #endif